JP3458052B2 - Method and apparatus for imaging recognition target object and component mounting method and apparatus using the same - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus for mounting an electronic component on a board by switching a plurality of cameras in accordance with the moving speed and size of the transported electronic component to capture an image of the electronic component. The present invention relates to a method and apparatus for imaging a recognition target object for imaging with a required resolution and imaging range, and a component mounting method and apparatus using the same.

[0002]

2. Description of the Related Art A line sensor camera is an effective image pickup means when an object, such as a product conveyed in a production facility, which moves at a constant speed is imaged for inspection or the like.

FIG. 5 shows a structure in which the moving recognition object 33 is imaged by the line sensor camera 38 at a predetermined position.

A transfer device is constituted by a moving head 36 attached to a ball screw 35 which is rotationally driven by a motor 34, and an object 33 to be recognized is held and moved by the moving head 36. In such a transport structure,
Since the movement distance of the recognition object 33 can be known from the rotation speed of the motor 34, an encoder 37 is attached to the motor 34, an output pulse from the encoder 37 is input to the camera interface 40, and the line sensor camera 38 is used.
Control the imaging operation of.

In the camera interface 40,
A pitch counter 41 that counts the output pulse from the encoder 37 outputs the counted pitch signal. The horizontal counter 43 clears the counter value to 0 by the signal from the operation start detector 44 and the pitch signal, and counts the internal clock from the clock 45.
A read signal synchronized with the pitch signal and a horizontal synchronizing signal are generated. By inputting this read signal to the line sensor camera 38, the line sensor camera 3
Reference numeral 8 outputs an image signal for one line. Since this read signal is output in synchronization with the movement distance of the recognition object 33, an image signal is output every time the recognition object 33 moves a certain distance, and the resolution of the image is kept constant.

The timing of starting the image pickup by the line sensor camera 38 is the recognition object 3 placed at a predetermined position.
The detection sensor 39 of No. 3 outputs a detection signal, and the operation start detector 44 to which this detection signal is input, counts the vertical counter 46 when the count value of the distance measurement counter 42 matches a preset predetermined value. To start. The vertical counter 46 obtains the number of imaged lines by counting the horizontal synchronizing signal, stops counting when the number of lines matches a preset number of imaged lines, and only while the vertical counter 46 is operating. The vertical sync signal is output.

The image signal output from the line sensor camera 38 is A / D converted by the A / D converter 47 and input to the image storage device 48.
Reference numeral 8 stores an image as a two-dimensional image signal based on the horizontal synchronizing signal and the vertical synchronizing signal.

The line sensor camera 38 is moving the recognition object 33, or the line sensor camera 3
While a two-dimensional image is obtained by moving 8, the area sensor camera directly obtains a two-dimensional image regardless of whether the recognition target 33 is stationary or moving, regardless of the moving speed. Line sensor camera 3
8 can be effectively used depending on the state of the recognition target object 33 that is difficult to handle. FIG. 6 shows a configuration when an area sensor camera is applied to the image pickup state of the recognition object 33. However,
The description of the components common to the above configuration is omitted.

In FIG. 6, a horizontal counter 53 counts a clock signal from a clock 52, outputs a horizontal synchronizing signal when the count value matches a preset value, and simultaneously sets the count value to 0 at the same time as the output. The operation of clearing is repeated at regular intervals. Further, a read signal given a constant phase difference from the horizontal synchronizing signal is output at a constant cycle. The operation of the vertical counter 54 is started by the input of the image pickup start signal.
Simultaneously with the start of the operation, the operation signal generator 55 generates an image pickup signal synchronized with the read signal. The operation signal generator 55 includes a counter that counts the read signal, and uses the output of the counter to generate the image pickup signal synchronized with the read signal. By inputting this image pickup signal to the area sensor camera 51, an analog image signal is output from the area sensor camera 51.

The analog image signal is an A / D converter 56.
Is converted into a digital form and input to the image storage device 57. The image storage device 57 stores each line of image signals in accordance with the horizontal synchronizing signal, and repeats this while the vertical synchronizing signal is being input, thereby storing as a two-dimensional digital image signal.

[0011]

In the above conventional structure, when the recognition target objects are of the same or substantially the same size, the image can be picked up by one line sensor camera. If they are significantly different,
Prepare multiple line sensor cameras with different resolutions,
It is necessary to switch depending on the size of the recognition target. However, if the resolutions are different, it is necessary to match the moving speed of the recognition target to the line sensor camera with high resolution, or to increase the operation clock of the line sensor camera with high resolution to match with the line sensor camera with low resolution. However, if the difference in resolution is large, the difference in operating clock is also large. In reality, the upper limit of the operating clock of the line sensor camera is almost constant, and if the size of the recognition target is significantly different, a plurality of line sensor cameras are switched. Is difficult to deal with. Therefore, it is conceivable to configure the imaging device by combining the line sensor camera and the area sensor camera.

However, since the area sensor camera and the line sensor camera have different operation structures, it is necessary to separately prepare an operation clock and an interface, which causes a problem that the structure of the image pickup apparatus becomes complicated.

It is an object of the present invention to provide a method and an apparatus for recognizing an object to be recognized, in which a plurality of cameras having different operation structures are controlled by a common interface and the operation clock can be switched without malfunction due to switching impact. It is what

[0014]

SUMMARY OF THE INVENTION A first invention of the present application is a method for imaging a recognition target object in which a plurality of cameras having different operation clocks and operation signal timings are switched to capture a moving recognition object at different resolutions or imaging ranges. In the above, the operation clock required by the selected camera is switched at a timing synchronized with each clock before and after the clock switching, and a horizontal synchronization signal, a vertical synchronization signal, and an operation start signal based on the moving distance of the recognition target object. And output to the camera by switching to the image pickup signal and the read signal corresponding to the camera selected based on these signals, and selectively switch the image signals output from the plurality of cameras, and It is characterized in that the two-dimensional image signal is generated in synchronization with the synchronization signal.

According to the above-mentioned image pickup method, the operation clocks are switched according to the operation clocks and the operation signal timings of the plurality of cameras, and the horizontal synchronizing signal and the vertical synchronizing signal output from the common control means are started. The image pickup signal and the read signal corresponding to the camera selected based on the signal are output. If the operation clock is simply switched, a pulse noise is generated to give a malfunction to the movement distance detection pulse, but the malfunction is not caused by switching in synchronization with the clocks before and after the switching. The image signal output from each camera is selectively switched and generated as a two-dimensional image according to the horizontal synchronizing signal and the vertical synchronizing signal.

Accordingly, even if the plurality of cameras are controlled by the common control means, no malfunction occurs, and the plurality of cameras can be switched according to the resolution for recognizing the recognition target object and the imaging range. A method can be provided.

The second invention of the present application is an image pickup apparatus for a recognition target object, in which a plurality of cameras having different operation clocks and operation signal timings are switched to capture a moving recognition object at different resolutions or imaging ranges. Imaging position detection means for detecting movement of an object to a predetermined imaging position, and clock output means for switching and outputting an operation clock required by the selected camera at timings synchronized with each clock cycle before and after clock switching. , Operation start signal and horizontal sync signal required by the selected camera
A horizontal timing generating means for outputting the item, the operation start
Vertical timing generating means for outputting a vertical synchronizing signal from the input of a signal to a predetermined image pickup period, and an image storing means for storing an image signal from a camera selected based on the horizontal synchronizing signal and the vertical synchronizing signal as a two-dimensional image. And a camera switching means for switching the clock output means and the horizontal timing generation means to a state corresponding to the selected camera.

With the above arrangement, when selecting a camera suitable for the resolution and the range of increase in recognition of the recognition object, the clock output means and the horizontal timing generation means are brought into a state corresponding to the selected camera by the camera switching means. Since they can be switched, the operation clocks are switched according to the timings of the operation clocks and the operation signals of the plurality of cameras, and the selection is made based on the horizontal synchronizing signal, the vertical synchronizing signal and the operation starting signal output from the common control means. It is possible to output an image pickup signal and a read signal according to the selected camera. If the operation clock is simply switched, a pulse noise is generated to give a malfunction to the movement distance detection pulse, but the malfunction is not caused by switching in synchronization with the clocks before and after the switching. The image signal output from each camera is selectively switched and generated as a two-dimensional image according to the horizontal synchronizing signal and the vertical synchronizing signal. Therefore, even if the plurality of cameras are controlled by the common control means, no malfunction occurs, and the plurality of cameras can be switched according to the resolution for recognizing the recognition target and the imaging range with a simple configuration. can do. The third invention of the present application is the first invention described above.
Based on the recognition object recognized by the method for imaging a recognition object of the invention,
It is characterized by being mounted on a board . Furthermore, the fourth invention of the present application
And an imaging device for the recognition object of the second invention, and a recognition object
It has a moving head that mounts objects on the board.
To collect.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention.
The embodiments described below are examples of embodying the present invention and do not limit the technical scope of the present invention.

FIG. 1 is a block diagram showing a configuration of an image pickup apparatus according to an embodiment of the present invention, FIG. 2 is a block diagram showing a configuration of a horizontal counter in the apparatus, and FIG. 3 is a configuration diagram showing a clock switching structure. 4 is a timing chart of clock switching for explaining the clock switching operation.

In FIG. 1, an object to be recognized 20 is structured so as to be held at a moving head 21 attached to a ball screw 19 which is rotationally driven by a motor 18 and conveyed at a constant speed. The device 1 is configured to switch between the line sensor camera 2 and the area sensor camera 3 in accordance with the size and type of the recognition target object 20 so that an image can be taken.

The image pickup apparatus 1 includes an image pickup section A, a control section B, and
Clock unit (clock output means) C and image processing unit D
And a camera switching unit (camera switching means) E. The configuration of each unit will be described below in order.

The image pickup section A corresponds to each image pickup camera of the line sensor camera 2 and the area sensor camera 3, an illuminating device 4 for illuminating the recognition target 20 without impairing the image pickup field of each image pickup camera, and each image pickup camera. And an operation signal generation unit (operation signal generation means) 17 that outputs an image pickup signal, a read signal, a clock signal, and an illumination lighting signal according to the operation of the line sensor camera 2 or the area sensor camera 3.

Since the phase difference between the horizontal synchronizing signal and the read signal is different between the line sensor camera 2 and the area sensor camera 3, the operation signal generating unit 17 receives the clock signal from the camera switching signal (s) from the camera switching unit E. A counter that operates on the clock output from the section C is used to generate a read signal when the count value reaches a predetermined value. The count value is set in advance to a predetermined value corresponding to the line sensor camera 2 and the area sensor camera 3, and is switched by the camera switching signal (s). Further, the lighting time of the lighting device 4 is controlled from the input vertical synchronizing signal. When using the line sensor camera 2, an illumination lighting signal is output while the vertical synchronization signal is being input. When using the area sensor camera 3, a short time when the vertical synchronizing signal is input (for example, a half cycle of the horizontal synchronizing signal)
Outputs the lighting lighting signal. The illumination device 4 lights up only when the illumination lighting signal is input to illuminate the recognition target object 20.

The control section B has an encoder 15 for detecting the number of rotations of the motor 18 of the carrying section for carrying the recognition object 20.
From the position detection sensor (imaging position detecting means) 16 for detecting the recognition target 20 that has reached the imaging position, and the clock signal from the clock unit C. Since the cycle of the output signal from the encoder 15 is proportional to the moving speed of the recognition target object 20, this is detected as a moving speed pulse by the pitch counter (moving distance detecting means) 5, and a pitch corresponding to a fixed distance is obtained. A pitch signal is output every time.

By counting the pitch signal by the distance measuring counter 6, the moving distance of the recognition object 20 can be measured, and the moving distance measuring signal is input to the operation start detecting section (imaging operation start detecting means) 7. It The operation start detection unit 7 operates on the vertical counter (vertical timing generation means) 9 when the count value of the distance measurement counter 6 reaches a predetermined value after the detection signal from the position detection sensor 16 is input. Since the signal is output, the vertical counter 9 starts operating and outputs the vertical synchronizing signal. The pitch signal from the pitch counter 5 is also input to a horizontal counter (horizontal timing generating means) 8, and the horizontal counter 8 counts the pitch signal based on an operation clock. The horizontal counter 8 is configured as shown in FIG. 4, and when the line sensor camera 2 is used, the count value of the counter 26 is cleared by using the pitch signal from the pitch counter 5 as a clear signal. On the other hand, when the area sensor camera 3 is used, the count value is cleared using the output signal of the horizontal period comparator 28 as a clear signal. The horizontal period comparator 28 compares the output of the counter 26 with a preset value and outputs a clear signal when they match. As a result, the horizontal counter 8 operates in synchronization with the movement distance of the recognition target object 20 when using the line sensor camera 2, and operates at a predetermined constant cycle when using the area sensor camera 3. The output signal of the horizontal period comparator 28 is input to the operation signal generating section 17 of the image pickup section A as an operation signal. Further, the horizontal sync comparator 27
Compares the output of the counter 26 with a preset value and outputs a horizontal synchronizing signal. By this operation, the operation signal and the horizontal synchronizing signal are output in a synchronized state.

The vertical counter 9 counts the horizontal synchronizing signal from the time when the operation is started by the image pickup start signal, and outputs the vertical synchronizing signal to the image storage device 14 during the image pickup operation. Therefore, even if the operation clocks of the line sensor camera 2 and the area sensor camera 3 are different, the operation is not affected.

The clock section C switches between different operation clocks when the line sensor camera 2 is used and when the area sensor camera 3 is used, and switches and outputs them without impact. The clock unit C includes an oscillator 10a that generates an operation clock CLK1 for the area sensor camera 2 and an operation clock C for the area sensor camera 3.
An oscillator 10b for generating LK2 is provided, and the clock switch 11 switches between the operation clock CLK1 and the operation clock CLK2 and outputs the clock. The clock switching device 11 is configured as shown in FIG. 3, the four flip-flop circuits 22 to 25 are configured as D latches, and the clock switching signal (t) output from the camera switching unit E is output.
The operation clock CLK1 or the operation clock CLK2 is output depending on the high level (H) and the low level (L).

As shown in FIG. 3, the clock CLK1 is input to the flip-flop circuits 22 and 23, the clock CLK2 is input to the flip-flop circuits 24 and 25, and the clock switching signal ( t) is input to the flip-flop circuits 22 and 24, the output signal of the flip-flop circuit 24 is input to the flip-flop circuit 23, and the output signal of the flip-flop circuit 22 is input to the flip-flop circuit 25. As described above, by switching the clock switching signal (t) between the low level and the high level, the clock CLK
1 or the rising edge of the clock CLK2 to the next rising edge is latched, and the clock CLK1 and the clock CL
It is switched to K2 with a fixed period interposed. Therefore, pulse noise is not generated due to switching by a switch or the like, and a malfunction does not occur in the control unit B that operates based on the pulse signal.

The image processing section D outputs only one of the image signal from the line sensor camera 2 and the image signal from the area sensor camera 3 according to the image signal switching signal (i) output from the camera switching section E. Image signal switching unit 12, an A / D conversion unit 13 that digitally converts an analog image signal, and a control unit B that converts the digital image signal.
The image storage device 14 is configured to store a two-dimensional image signal by using the horizontal synchronization signal and the vertical synchronization signal input from the.

The camera switching unit E switches the cameras when conditions such as the size of the recognition object 20 and the moving speed are changed.
Outputs a clock switching signal (t) to the clock switching unit 11, a camera switching signal (s) to the operation signal generating unit 17, an image switching signal (i) to the image signal switching unit 12, and a clear switching signal (c) to the horizontal counter 8. To do. The camera switching signal (s) and the image switching signal (i) may be switching between a high level signal and a low level signal like the clock switching signal (t) described above, or may be an on / off signal.

The operations of the image pickup apparatus 1 having the above-described structure when the line sensor camera 2 and the area sensor camera 3 pick up images will be described step by step.

[Imaging Operation by Line Sensor Camera 2] (1) The output signal from the encoder 15 is counted by the pitch counter 5, and the pitch signal is obtained for each count value corresponding to the movement of the recognition target object 20 by a certain distance. Output. The interval of the pitch signals becomes the moving direction resolution of the recognition target object 20 by the line sensor camera 2.

(2) The pitch signal is counted by the distance measuring counter 6 to measure the moving distance of the recognition object 20.

(3) When the position detection sensor 16 detects that the recognition target object 20 has moved to the image pickup position and a detection signal is input to the operation start detection unit 7, the operation start detection unit 7
Starts the operation of the vertical counter 9 and outputs the vertical synchronizing signal.

(4) The vertical synchronizing signal is the operation signal generator 17
The lighting device 4 is turned on by the lighting turn-on signal output from the operation signal generator 17, and the recognition target object 20 that has moved to a predetermined position is illuminated.

(5) After the count value of the horizontal counter 8 is cleared by the pitch signal from the pitch counter 5,
When the operation clock count is started and the preset value and the count value match, the operation start signal and the horizontal synchronization signal are output. By this operation, the analog image signal output from the line sensor camera 2 and the horizontal synchronizing signal always maintain a constant phase difference.

(6) The operation signal generator 17 inputs to the line sensor camera 2 a read signal generated from the operation start signal with a constant phase difference by the operation clock.

(7) The line sensor camera 2 outputs one line of analog image signal in accordance with the read signal and the operation clock.

(8) The image signal switching unit 12 outputs the input analog image signal to the A / D conversion unit 13, and the A / D conversion unit 13 converts the analog image signal into a digital image signal and the image storage device. Enter in 14.

(9) The image storage device 14 stores a digital image signal for one line in accordance with the horizontal synchronizing signal, and repeats this operation while the vertical synchronizing signal is input to store a two-dimensional image signal.

(10) When the count value of the vertical counter 9 matches the preset number of image pickup lines, the output of the vertical synchronizing signal is stopped and the image pickup operation is completed.

When switching from the above image pickup by the line sensor camera 2 to the image pickup by the area sensor camera 3,
Alternatively, when switching to the opposite state, the camera switching section E causes the clock section C, the operation signal generating section 17,
The settings of the image signal switching unit 12 and the horizontal counter 8 are switched to the imaging state of the area sensor camera 3 or the line sensor camera 2.

[Imaging Operation by Area Sensor Camera 3] (1) The output signal from the encoder 15 is counted by the pitch counter 5, and the pitch signal is obtained for each count value corresponding to the movement of the recognition object 20 by a fixed distance. Output.

(2) The distance measuring counter 6 counts the pitch signal to measure the moving distance of the recognition object 20.

(3) When the position detection sensor 16 detects that the recognition target object 20 has moved to the image pickup position and a detection signal is input to the operation start detection unit 7, the operation start detection unit 7
Starts the operation of the vertical counter 9 and outputs the vertical synchronizing signal.

(4) The vertical synchronizing signal is the operation signal generator 17
To the recognition target object 20 that has moved to a predetermined position by lighting the lighting device 4 for one horizontal synchronization period in response to the lighting lighting signal that is input to the operation signal generator 17.

(5) After the count value of the horizontal counter 8 is cleared by the pitch signal from the pitch counter 5,
When the count of the operation clock is started and the preset value and the count value match, the operation start signal and the horizontal synchronization signal are output, and the count value becomes a value corresponding to one horizontal synchronization period. When the output of the horizontal counter 8 itself is 0
To clear. By this operation, the analog image signal output from the line sensor camera 2 and the horizontal synchronizing signal always maintain a constant phase difference, and the period during which the image signal for one line is read out is maintained constant.

(6) The operation signal generator 17 inputs to the area sensor camera 3 the read signal generated by the operation clock from the operation start signal with a further constant phase difference.

(7) The image signal switching unit 12 converts the analog image signal output from the area sensor camera 3 into the A / D conversion unit 1.
3, and the A / D converter 13 converts the analog image signal into a digital image signal and inputs it to the image storage device 14.

(8) The image storage device 14 stores a digital image signal for one line in accordance with the horizontal synchronizing signal, and repeats this operation while the vertical synchronizing signal is input to store a two-dimensional image signal.

(9) When the count value of the vertical counter 9 matches the preset number of image pickup lines, the output of the vertical synchronizing signal is stopped and the image pickup operation is completed.

When the recognition object 20 is continuously imaged by the imaging device 1 described above, the recognition object 2 by the position detection sensor 16 depends on the size of the recognition object 20.
This can be carried out by previously obtaining the distance from the detection of 0 to the start of imaging and giving this to the operation start detection unit 7.

The operation start detector 7 includes the position detection sensor 16
Since the detection signal from the
When the distance counted by is equal to the preset distance, the operation of the vertical counter 9 is started.

[0055]

As described above, according to the first invention of the present application, the operation clocks are switched according to the operation clocks and operation signal timings of a plurality of cameras, and
An image pickup signal or a read signal corresponding to the camera selected based on the horizontal synchronizing signal, the vertical synchronizing signal, and the operation start signal output from the common control means is output. If the operation clock is simply switched, a pulse noise is generated to give a malfunction to the movement distance detection pulse, but the malfunction is not caused by switching in synchronization with the clocks before and after the switching. The image signal output from each camera is selectively switched and generated as a two-dimensional image according to the horizontal synchronizing signal and the vertical synchronizing signal. Therefore, even if the plurality of cameras are controlled by the common control means, no malfunction occurs, and the plurality of cameras can be switched according to the resolution for recognizing the recognition target and the imaging range with a simple configuration. can do.

Further, according to the second invention of the present application, when selecting a camera suitable for the resolution for recognizing the recognition object and the imaging range, the clock output means and the image signal switching means are selected by the camera switching means. Since the states can be switched to the corresponding states, the operation clocks are switched according to the timings of the operation clocks and the operation signals of the plurality of cameras, and the horizontal synchronization signal, the vertical synchronization signal, and the operation start signal output from the common control means. It is possible to output an image pickup signal or a read signal according to the camera selected based on If the operation clock is simply switched, a pulse noise is generated to give a malfunction to the movement distance detection pulse, but the malfunction is not caused by switching in synchronization with the clocks before and after the switching. The image signal output from each camera is selectively switched and generated as a two-dimensional image according to the horizontal synchronizing signal and the vertical synchronizing signal. Therefore,
To provide an imaging device capable of switching a plurality of cameras according to a resolution for recognizing an object to be recognized and an imaging range with a simple configuration without causing malfunction even if a plurality of cameras are controlled by a common control unit. can.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an imaging device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a horizontal counter in the device.

FIG. 3 is a block diagram showing a configuration of a clock switch in the device.

FIG. 4 is a timing chart explaining the operation of the clock switching device.

FIG. 5 is a block diagram showing a configuration of an image pickup apparatus using a line sensor camera according to a conventional example.

FIG. 6 is a block diagram showing a configuration of an image pickup apparatus including an area sensor camera according to a conventional example.

[Explanation of symbols]

1 Imaging device 2 line sensor camera 3 area sensor camera 5 Pitch counter (moving distance detecting means) 7 Operation start detector (imaging operation start detector) 8 Horizontal counter (horizontal timing generation means) 9 Vertical counter (vertical timing generation means) 11 Clock switch 12 Image signal switching unit (image signal switching means) 14 Image storage device (image storage means) 15 Encoder (moving distance detecting means) 16 Position detection sensor (imaging position detection means) 17 Operation signal generator (operation signal generator) A imaging unit B control unit C clock section (clock output means) D Image processing unit E Camera switching unit (camera switching means)

Claims (4)

(57) [Claims] 1. A method of imaging a recognition target object, in which a plurality of cameras having different operation clocks and operation signal timings are switched to capture a moving recognition object at different resolutions or imaging ranges, the selected camera requires. The operation clock is switched at a timing synchronized with each clock before and after the clock switching, and a horizontal synchronization signal, a vertical synchronization signal, and an operation start signal are generated based on the moving distance of the recognition target, and based on these signals. The image pickup signal and the readout signal corresponding to the selected camera are output to the camera, and the image signals output from the plurality of cameras are synchronized with the horizontal synchronization signal and the vertical synchronization signal to generate a two-dimensional image signal. And a method of imaging a recognition target. 2. An imaging device for a recognition target that captures a moving recognition target with different resolutions and imaging ranges by switching a plurality of cameras with different operation clocks and operation signal timings, and to a predetermined imaging position of the recognition object. Is required, and an image pickup position detecting means for detecting movement of the selected camera, a clock output means for switching and outputting an operation clock required by the selected camera at timings synchronized with each clock cycle before and after clock switching, and a selected camera are required. Horizontal timing generation means for outputting an operation start signal and a horizontal synchronization signal,
Vertical timing generating means for outputting a vertical synchronization signal from the input of the operation start signal to a predetermined imaging period, and an image signal from the camera selected based on the horizontal synchronization signal and the vertical synchronization signal is stored as a two-dimensional image. An image pickup apparatus for an object to be recognized, comprising: an image storage unit; and a camera switching unit that switches a clock output unit and a horizontal timing generation unit to a state corresponding to a selected camera. 3. A component mounting method comprising mounting a recognition target object recognized by the recognition target imaging method according to claim 1 on a substrate. 4. A component mounting apparatus comprising the image pickup device for an object to be recognized according to claim 2 and a moving head for mounting the object to be recognized on a substrate.